Ultrasonic testing method and equipment therefor

ABSTRACT

An ultrasonic testing equipment of the present invention includes: an ultrasonic probe having a plurality of transducers arranged along a predetermined annular curved surface; a transmission/reception control unit that causes at least two transducers selected from the plurality of the transducers to transmit the ultrasonic waves to and receive the same from the tubular test object and a ultrasonic testing waveform display unit which displays ultrasonic testing waveforms received by the selected transducers radially corresponding to the propagation directions of the ultrasonic waves transmitted from and received by the selected transducers. The ultrasonic testing waveform display unit displays the ultrasonic testing waveforms radially with a point of time corresponding to an echo on an incident point of the ultrasonic wave to the tubular test object contained in the ultrasonic testing waveform as a beginning point and displays circles indicating points of time corresponding to the echo on the internal surface and/or the external surface of the tubular test object around the beginning point.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to an ultrasonic testing method and anultrasonic testing equipment for detecting a flaw existing on a tubulartest object such as a steel pipe or tube (hereinafter referred to as“pipe” when deemed appropriate) using an ultrasonic wave. Particularly,the present invention relates to an ultrasonic testing method and anultrasonic testing equipment capable of evaluating the position of atilted flaw in the thickness direction of a tubular test object and thetilt angle of the tilted flaw easily when flaws having various tiltangles (tilted flaws) with respect to an axial direction of a tubulartest object are detected manually, and also relates to an ultrasonictesting equipment capable of obtaining a high reliability test resultwithout any change in the posture of a ultrasonic probe with respect tothe tubular test object when the flaws are detected manually.

2. Description of the Related Art

As demand for higher quality pipes grows in recent years, there is anincreasing trend that nondestructive test standards for the pipes arebecoming more stringent.

For example, a seamless pipe, which is a typical pipe, is manufacturedby punching a billet with a piercer to form a hollow shell and rollingthe hollow shell with a mandrel mill or the like. The seamless pipe hasflaws having various tilt angles (hereinafter referred to as “tiltedflaws” when deemed appropriate) with respect to the axial direction.

A tilted flaw is believed to be caused by deformation in the axialdirection of a longitudinal crack originally existing on the billet inthe above manufacturing process or transfer of a flaw existing on aguide face of a guide shoe for maintaining a path center of a hollowshell. Therefore, the tilt angle of the tilted flaw with respect to theaxial direction of the seamless pipe changes depending on a differencein a pipe diameter of the seamless pipe or a cause for occurrencethereof. That is, there are tilted flaws with various tilt angles on theseamless pipe.

Since there is a trend of tighter service conditions of the seamlesspipes from year to year, higher quality is demanded and accuratedetection of the above tilted flaws is also sternly demanded.

Conventionally, various methods for detecting the tilted flaws existingon the seamless pipes have been proposed.

In Patent Literature 1 (Japanese Unexamined Patent Publication No.55-116251), for example, a method for detecting a tilted flaw byarranging an ultrasonic probe at an appropriate position and tilt angledepending on the position and tilt angle of the tilted flaw to bedetected is proposed.

However, the method described in Patent Literature 1 has a problem thatextremely much time and manpower are needed because the tilt angle ofthe ultrasonic probe must be changed each time in accordance with thetilt angle of the tilted flaw to be detected. Also, to detect tiltedflaws with various tilt angles existing on the seamless pipe in oneround of flaw-detecting work, as described above, many ultrasonic probesmust be provided, each of which is arranged with a different tilt angle.That is, there are problems that large equipment is required and soaringcosts are entailed, in addition to complicated arrangements/settings andcalibration of ultrasonic probes.

To solve the problems of the method described in the above PatentLiterature 1, a flaw detecting method that applies an ultrasonic probearray in which a plurality of transducers (elements fortransmitting/receiving ultrasonic waves) are arranged in a single row isproposed in Patent Literature 2 (Japanese Unexamined Patent PublicationNo. 61-223553). More specifically, transversal ultrasonic waves arepropagated within the pipe by aligning an arrangement direction of thetransducers with the axial direction of the pipe and arranging theultrasonic probe decentralized from an axial center of the pipe. Then,according to this method, the tilted flaws with the various tilt anglesare detected by changing the tilt angle (tilt angle with respect to theaxial direction of the pipe) of ultrasonic waves transmitted andreceived by the ultrasonic probe using electronic scanning thatelectrically controls transmission/reception timing of the ultrasonicwave by each transducer.

However, two main problems (first problem and second problem) shownbelow exist in the method described in Patent Literature 2.

<First Problem>

According to the method described in Patent Literature 2, theintensities of echoes from tilted flaws are different even if they arethe tilted flaws of the same size, depending on the tilt angles of thetiled flaws. The reason is that even if the tilt angle of ultrasonicwave is changed by electronic scanning corresponding to the tilt angleof each tilted flaw such that the extension direction of the tilted flawand a propagation direction (propagation direction viewed from a normaldirection of a tangential plane of the pipe including an incident pointof the ultrasonic wave) of the ultrasonic wave transmitted by theultrasonic probe are orthogonal to each other, an external refractionangle (incident angle to an external surface flaw existing on theexternal surface of the pipe) and an internal refraction angle (incidentangle to an internal surface flaw existing on the internal surface ofthe pipe) are changed corresponding to the tilt angle of each tiltedflaw (corresponding to the propagation direction of the ultrasonicwave). If the intensities of the echoes from the tilted flaws aredifferent depending on the tilt angle of the tilted flaw, there is apossibility that the detection of a harmful flaw may be prevented orminute flaws that need not to be detected may be over-detected.

<Second Problem>

If electronic scanning for electrically controllingtransmission/reception timing of the ultrasonic wave by each transducerof an ultrasonic probe array described in Patent Literature 2 is used tochange the tilt angle of the ultrasonic wave transmitted and received bythe ultrasonic probe, electronic scanning must be repeated as many timesas required depending on the tilt angle of the tilted flaw to bedetected in a specific area of the pipe. That is, for example, to detectthree tilted flaws with different tilt angles, electronic scanning mustbe repeated three times in the specific area of the pipe, andflaw-detection efficiency is reduced to ⅓ when compared with detectionof flaws with a unidirectional tilt angle. As described above, themethod described in Patent Literature 2 has the problem that theflaw-detection efficiency goes down as the number of the tilt angles ofthe tilted flaws to be detected increases.

In Patent Literature 3 (Japanese Unexamined Patent Publication No.59-163563), on the other hand, a method for causing the ultrasonic waveto enter in any direction using a group of transducers arranged in amatrix state in order to detect the tilted flaws with the various tiltangles is proposed. More concretely, an incident direction of theultrasonic wave is arbitrarily changed by selecting an appropriatenumber of arbitrary transducers from the group of transducers and byperforming electronic scanning for electrically controllingtransmission/reception timing (driving time) thereof. Then, it isdisclosed that patterns to change the incident directions of theultrasonic wave are stored in advance as a program.

However, the first problem that echo intensity changes in accordancewith the tilt angle of each tilted flaw, as described above, is notmentioned in Patent Literature 3 and further, in order to solve theproblem, nothing is disclosed about which change pattern should be usedto change the incident directions of the ultrasonic wave. In addition,there is a problem similar to the second problem of the method describedin Patent Literature 2. That is, there is the problem that theflaw-detection efficiency decreases because electronic scanning must berepeated as many times as the number of tilt angles of the tilted flawsto be detected.

In views of the above-described problems of the related art, theinventors of the present invention have proposed an ultrasonic testingmethod described in Patent Literature 4 (WO 2007/024000).

More specifically, Patent Literature 4 has proposed an ultrasonictesting method including the steps of arranging an ultrasonic probehaving a plurality of transducers so as to face a tubular test object;and causing transducers appropriately selected from the plurality oftransducers to transmit and receive ultrasonic waves so that theultrasonic waves are propagated in the tubular test object in aplurality of different propagation directions, in which an ultrasonictesting condition by the ultrasonic probe is set so that respectiveexternal refraction angles θr of ultrasonic waves in the plurality ofthe propagation directions are approximately equivalent and/orrespective internal refraction angles θk of ultrasonic waves in theplurality of the propagation directions are approximately equivalent(claim 1 and the like of Patent Literature 4).

The ultrasonic probe has the plurality of transducers arranged along anannular curved surface obtained by cutting a predetermined spheroid withtwo parallel planes facing to each other that do not pass through thecenter of a spheroid and do not sandwich the center of the spheroid, thetwo parallel planes being orthogonal to the rotational axis of thespheroid, in the step of arranging the ultrasonic probe so as to facethe tubular test object, the ultrasonic probe is arranged so that alonger axis direction of the ultrasonic probe is along an axialdirection of the tubular test object, a shorter axis direction of theultrasonic probe is along a circumferential direction of the tubulartest object, and the center of the spheroid correctly faces an axialcenter of the tubular test object, and a shape of the annular curvedsurface is determined so that the respective external refraction anglesθr of the ultrasonic wave in the plurality of propagation directions areapproximately equivalent, and/or the respective internal refractionangles θk of the ultrasonic wave in the plurality of propagationdirections are approximately equivalent. (claim 5 and the like of PatentLiterature 4).

According to the method described in Patent Literature 4, a plurality ofthe tilted flaws respectively extending in a direction orthogonal to theplurality of the propagation directions can be detected with highprecision. Further, the plurality of flaws can be detected rapidly bytransmitting and receiving the ultrasonic waves approximatelysimultaneously in the plurality of different propagation directions.

Because in-line inspection for inspecting flaws in a sequence of pipemanufacturing processes may be carried out by evaluating to see whetheror not there exists any flaw larger than a predetermined dimensionrapidly, this can be carried out sufficiently if the ultrasonic testingmethod proposed by the inventors of the present invention in PatentLiterature 4.

On the other hand, a pipe determined to contain flaws in the in-lineinspection needs to be inspected again. This reinspection needs toevaluate not only whether or not there exists any flaw but also theposition of the flaw in the thickness direction of the pipe (internalsurface, external surface, central portion in the thickness directionand the like) and the tilt angle of a tilted flaw in detail byperforming flaw detection manually by a qualified inspector.

Although it is demanded upon the aforementioned reinspection that aninspector can evaluate the position and the tilt angle of the flaweasily, Patent Literature 4 has not proposed any solving means for thispoint. Further, although it is demanded that upon scanning with theultrasonic probe manually, the posture of the ultrasonic probe withrespect to the tubular test object is not changed and a high reliabilityflaw detection result can be obtained, Patent Literature 4 has notproposed any solving means for this point.

SUMMARY OF THE INVENTION

The present invention has been devised to solve the above problems ofthe related art and an object of the present invention is to provide anultrasonic testing method and an ultrasonic testing equipment capable ofevaluating the position of a tilted flaw in a thickness direction of atubular test object and the tilt angle of the tilted flaw easily uponmanually detecting the flaws (tilted flaws) having various tilt angleswith respect to an axial direction of the tubular test object and anultrasonic test equipment capable of obtaining a high reliability flawdetection result without any change in the posture of the ultrasonicprobe with respect to the tubular test object upon detecting for theflaw manually.

In order to achieve the object, the ultrasonic testing method of thepresent invention includes following steps (1) to (3).

(1) A step of arranging an ultrasonic probe having a plurality oftransducers arranged along an annular curved surface obtained by cuttinga predetermined spheroid with two parallel planes facing to each otherthat do not pass through the center of the spheroid and do not sandwichthe center of the spheroid, the two parallel planes being orthogonal toa rotational axis of the spheroid, so as to face a tubular test objectso that a longer axis direction of the ultrasonic probe is along anaxial direction of the tubular test object, a shorter axis direction ofthe ultrasonic probe is along a circumferential direction of the tubulartest object and the center of the spheroid correctly faces to the axialcenter of the tubular test object.

(2) A step of causing transducers appropriately selected from theplurality of the transducers to transmit and receive ultrasonic waves sothat the ultrasonic waves are propagated in the tubular test object in aplurality of different propagation directions.

(3) A step of displaying ultrasonic testing waveforms received by theselected transducers radially corresponding to the propagationdirections of the ultrasonic waves transmitted and received by theselected transducers.

Then, the shape of the annular curved surface is determined so thatrespective external refraction angles of the ultrasonic wave in theplurality of propagation directions are approximately equivalent and/orrespective internal refraction angles of the ultrasonic wave in theplurality of propagation directions are approximately equivalent.

The present invention uses the ultrasonic probe having a plurality oftransducers arranged along an annular curved surface obtained by cuttinga predetermined spheroid with two parallel planes facing to each otherthat do not pass through the center of the spheroid and do not sandwichthe center of the spheroid, the two parallel planes being orthogonal toa rotational axis of the spheroid. Consequently, the ultrasonic wavetransmitted from each transducer is propagated toward the center of thespheroid. Further according to the present invention, the ultrasonicprobe is arranged so as to face to the tubular test object so that alonger axis direction of the ultrasonic probe is along an axialdirection of the tubular test object, a shorter axis direction of theultrasonic probe is along a circumferential direction of the tubulartest object and the center of the spheroid correctly faces to the axialcenter of the tubular test object. As a result, an elevation angle ofeach transducer viewed from the center of the spheroid is differentdepending on a position where each transducer is arranged andconsequently, the angle of incidence of the ultrasonic wave transmittedfrom each transducer with the tubular test object will also bedifferent. Therefore, by setting the shape (annular curved surfaceshape) of the ultrasonic probe appropriately, it becomes possible tocause the propagation direction of the ultrasonic wave transmitted fromeach transducer and the extension direction of the flaw to be detectedto be orthogonal to each other and, at the same time, to maintain theexternal refraction angle and/or the internal refraction angleapproximately constant.

If the shape of the annular curved surface is determined so that theexternal refraction angles of the ultrasonic waves in the plurality ofthe propagation directions are approximately equivalent, anapproximately equivalent echo intensity can be obtained about theexternal surface flaw regardless of any one of the plurality of thepropagation directions. Further, if the shape of the annular curvedsurface is determined so that the internal refraction angles of theultrasonic waves in the plurality of the propagation directions areapproximately equivalent, an approximately equivalent echo intensity canbe obtained about the internal surface flaw regardless of any one of theplurality of the propagation directions. Further, if the shape of theannular curved surface is determined so that both the externalrefraction angle and the internal refraction angle of the ultrasonicwaves in the plurality of the propagation directions are approximatelyequivalent, an approximately equivalent echo intensities can be obtainedabout the external surface flaw and the internal surface flaw regardlessof any one of the plurality of the propagation directions. Thus, aplurality of flaws (external surface flaw and/or internal surface flaw)respectively extending in directions orthogonal to the plurality of thepropagation directions can be detected with high precision.

According to the present invention, the ultrasonic testing waveformsreceived by the selected transducers are displayed radiallycorresponding to the propagation directions of the ultrasonic wavestransmitted and received by the selected transducers. As a result, bychecking the direction of the ultrasonic testing waveform containing theecho from the displayed tilted flaw visually, the tilt angle of thetilted flaw (the direction orthogonal to the direction of the displayedultrasonic testing waveform corresponds to the tilt angle) can beevaluated easily.

Further, by checking to see in which point of time of the ultrasonictesting waveforms displayed radially an echo from the tilted flaw iscontained visually, the position of the tilted flaw (internal surface,external surface, central portion in the thickness direction and thelike) in the thickness direction of the tubular test object can beevaluated easily.

According to the ultrasonic testing method of the present invention, asdescribed above, the tilted flaws having various tilt angles withrespect to the axial direction of the tubular test object can bedetected with high precision and at the same time, the position of thetilted flaw and the tilt angle of the tilted flaw in the thicknessdirection of the tubular test object can be evaluated easily.

In the meantime, “the plurality of the transducers arranged along theannular curved surface” mentioned in the present invention includes notonly a case where the respective transducers (vibration surfaces ofrespective transducers) are formed in a curved surface so that theirshape agrees with part of an annular curved surface but also a casewhere the respective transducers (vibration surfaces of the respectivetransducers) are formed in a plane and arranged in contact with theannular curved surface.

“The center of the spheroid correctly faces the axial center of thetubular test object” means that a straight line (similar to a rotationalaxis of the spheroid) that passes through the center of the spheroid andare orthogonal to the two parallel planes passes through the axialcenter of the tubular test object.

The “spheroid” is used as a terminology which includes a sphere whose alonger axis and shorter axis are identical to each other.

The “propagation direction of the ultrasonic wave” means the propagationdirection of the ultrasonic wave viewed from the normal direction of atangential plane of the tubular test object including an incident pointof the ultrasonic wave.

The “external refraction angle” means the angle θr formed, on apropagation plane of the ultrasonic wave of the tubular test object P,by a normal L1 of the tubular test object P and the ultrasonic wave U(central line of an ultrasonic wave beam) at a point B on the externalsurface of the tubular test object P reached by the ultrasonic wave U(central line of the ultrasonic wave beam) after entering the tubulartest object P (see FIG. 2D).

The “internal refraction angle” means the angle θk formed, on thepropagation plane of the ultrasonic wave of the tubular test object P,by a normal L2 of the tubular test object P and the ultrasonic wave U(central line of the ultrasonic wave beam) at a point A on the internalsurface of the tubular test object P reached by the ultrasonic wave U(central line of the ultrasonic wave beam) after entering the tubulartest object P (see FIG. 2D).

The “respective external (or internal) refraction angles of theultrasonic wave in the plurality of propagation directions areapproximately equivalent” means that external (or internal) refractionangles have a range of variation of up to 10°.

In the step of displaying the ultrasonic testing waveforms radially, itis preferred that the ultrasonic testing waveforms be displayed radiallywith a point of time corresponding to an echo on an incident point ofthe ultrasonic wave to the tubular test object contained in theultrasonic testing waveform as a beginning point, and circles indicatingpoints of time corresponding to the echoes on the internal surfaceand/or the external surface of the tubular test object around thebeginning point be displayed.

According to such a preferred configuration, the ultrasonic testingwaveforms are displayed radially and further, circles indicating pointsof time corresponding to the echoes on the internal surface and/or theexternal surface of the tubular test object are displayed. Consequently,by checking at which point of time in the ultrasonic testing waveformsdisplayed radially the echo from the tilted flaw is contained with thedisplayed circles visually (by evaluating a positional relationshipbetween the point of time containing the echo from the tilted flaw andthe circles), the position of the tilted flaw in the thickness directionof the tubular test object can be evaluated more easily.

In order to achieve the object, the present invention also provides anultrasonic testing equipment including an ultrasonic probe having aplurality of transducers arranged along an annular curved surfaceobtained by cutting a predetermined spheroid with two parallel planesfacing to each other that do not pass through the center of the spheroidand do not sandwich the center of the spheroid, the two parallel planesbeing orthogonal to a rotational axis of the spheroid, the ultrasonicprobe being arranged so as to face a tubular test object so that alonger axis direction of the ultrasonic probe is along an axialdirection of the tubular test object, a shorter axis direction of theultrasonic probe is along a circumferential direction of the tubulartest object and the center of the spheroid correctly faces to the axialcenter of the tubular test object; a transmission/reception control unitthat causes at least two transducers selected from the plurality of thetransducers to transmit the ultrasonic waves to and receive the samefrom the tubular test object; and a ultrasonic testing waveform displayunit that displays ultrasonic testing waveforms received by the selectedtransducers radially corresponding to the propagation directions of theultrasonic waves transmitted and received by the selected transducers.

Preferably, the ultrasonic testing waveform display unit displays theultrasonic testing waveforms radially with a point of time correspondingto an echo on an incident point of the ultrasonic wave to the tubulartest object contained in the ultrasonic testing waveform as a beginningpoint and displays circles indicating points of time corresponding tothe echoes on the internal surface and/or the external surface of thetubular test object around the beginning point.

In order to achieve the object, the present invention further providesan ultrasonic testing equipment for detecting a flaw by ultrasonic wavesin a tubular test object, including: an ultrasonic probe; a pair offollow-up mechanisms arranged along an axial direction of the tubulartest object so that the ultrasonic probe is sandwiched, and connected tothe ultrasonic probe; and a pair of arm mechanisms arranged along thecircumferential direction of the tubular test object so that theultrasonic probe and the follow-up mechanisms are sandwiched, andconnected to the ultrasonic probe while an interval between the pair ofarm mechanisms is adjustable, wherein the follow-up mechanism includesat least one rolling roller that rolls in contact with the externalsurface of the tubular test object, and the arm mechanism has at leastone pair of rolling rollers that are arranged to sandwich the center ofthe ultrasonic probe and roll in contact with the external surface ofthe tubular test object.

The ultrasonic testing equipment of the present invention includes apair of follow-up mechanisms which are arranged along the axialdirection of the tubular test object so that the ultrasonic probe issandwiched, and connected to the ultrasonic probe. This follow-upmechanism has at least one rolling roller which rolls in contact withthe external surface of the tubular test object. Thus, the ultrasonicprobe is placed on the external surface of the tubular test object viaat least one rolling roller possessed by a pair of follow-up mechanismand in order to scan the external surface of the tubular test object byrolling the rolling roller.

The ultrasonic testing equipment of the present invention includes apair of arm mechanisms which are arranged along the circumferentialdirection of the tubular test object so that the ultrasonic probe andthe follow-up mechanisms are sandwiched, and connected to the ultrasonicprobe while the interval between the pair of arm mechanisms isadjustable. The arm mechanism has at least a pair of rolling rollersthat are arranged to sandwich the center of the ultrasonic probe androll in contact with the external surface of the tubular test object.Therefore, when the tubular test object is sandwiched from thecircumferential direction by means of the pair of arm mechanisms byadjusting the interval between the pair of arm mechanisms, the postureof the ultrasonic probe connected to the pair of arm mechanisms withrespect to the tubular test object can be kept constant. Then, even in acondition that the tubular test object is sandwiched from thecircumferential direction by the pair of arm mechanism, the ultrasonicprobe can be run along the external surface of the tubular test objectfor scanning by rolling the rolling rollers, because each arm mechanismhas the rolling rollers.

As described above, the ultrasonic testing equipment of the presentinvention can obtain a high reliability flaw detection result withoutany change in the posture of the ultrasonic probe with respect to thetubular test object.

The aforementioned ultrasonic testing equipment is particularlyeffective in case where the ultrasonic probe includes a plurality of thetransducers arranged along the annular curved surface. That is, theultrasonic probe has a plurality of transducers arranged along anannular curved surface obtained by cutting a predetermined spheroid withtwo parallel planes facing to each other that do not pass through thecenter of the spheroid and do not sandwich the center of the spheroid,the two parallel planes being orthogonal to a rotational axis of thespheroid, and is arranged so as to face a tubular test object so that alonger axis direction of the ultrasonic probe is along an axialdirection of the tubular test object, a shorter axis direction of theultrasonic probe is along a circumferential direction of the tubulartest object and the center of the spheroid correctly faces to the axialcenter of the tubular test object. The ultrasonic testing equipmentpreferably includes a transmission/reception control unit that causes atleast two transducers selected from the plurality of the transducers totransmit the ultrasonic waves to and receive the same from the tubulartest object.

According to such a preferred configuration, not only the tilted flawscan be detected with high precision but also the posture of theultrasonic probe with respect to the tubular test object is not changed,thereby obtaining a high reliability flaw detection result.

More preferably, the ultrasonic testing equipment includes a ultrasonictesting waveform display unit that displays ultrasonic testing waveformsreceived by the selected transducers radially corresponding to thepropagation directions of the ultrasonic waves transmitted and receivedby the selected transducers.

According to such a preferred configuration, there is a furtheradvantage that not only the position of the tilted flaw in the thicknessdirection of the tubular test object but also the tilt angle of thetilted flaw can be evaluated easily.

Preferably, the ultrasonic testing waveform display unit displays theultrasonic testing waveforms radially with a point of time correspondingto an echo on an incident point of the ultrasonic wave to the tubulartest object contained in the ultrasonic testing waveform as a beginningpoint and displays circles indicating points of time corresponding tothe echoes on the internal surface and/or the external surface of thetubular test object around the beginning point.

According to such a preferred configuration, the position of the tiltedflaw in the thickness direction of the tubular test object can beevaluated more easily.

According to the present invention, when the tilted flaws having varioustilt angles with respect to the axial direction of the tubular testobject are detected manually, the position of the tilted flaw in thethickness direction of the tubular test object and the tilt angle of thetilted flaw can be evaluated easily. Further, when detecting the flawsmanually, the posture of the ultrasonic probe with respect to thetubular test object is not changed thereby obtaining a high reliabilityflaw detection result.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A to 1D are schematic views each illustrating the schematicconfiguration of an ultrasonic testing equipment according to anembodiment of the present invention, FIG. 1A is a perspective viewthereof, FIG. 1B is a plan view thereof, and FIG. 1C is a side viewthereof and FIG. 1D is an explanatory view;

FIGS. 2A to 2D are explanatory diagrams each showing a propagationbehavior of ultrasonic wave in the ultrasonic testing equipment shown inFIGS. 1A to 1D, FIG. 2A is a perspective view thereof, FIG. 2B is asectional view in a circumferential direction of a pipe, FIG. 2C is aplan view thereof and FIG. 2D is a sectional view along the ultrasonicwave propagation plane (plane containing a point O, point A and point Bshown in FIG. 2B);

FIGS. 3A to 3C are explanatory diagrams for explaining the function ofthe ultrasonic testing waveform display unit shown in FIGS. 1A to 1D,FIG. 3A shows a relationship between a selected transducer and thepropagation direction of ultrasonic wave to be transmitted from theselected transducer, FIG. 3B shows an example of the waveform ofultrasonic wave to be received by the selected transducer, and FIG. 3Cshows an example of display of the waveform of the ultrasonic wave;

FIGS. 4A and 4B show an example that a tilted flaw generated in a steelpipe is detected using the ultrasonic testing equipment shown in FIG. 1Ato 1D to display the ultrasonic testing waveforms with the ultrasonictesting waveform display unit;

FIGS. 5A to 5C show other example of display of the ultrasonic testingwaveforms by the ultrasonic testing waveform display unit shown in FIG.1A to 1D;

FIGS. 6A to 6C are schematic views each showing the schematicconfiguration of a structure around a mechanical section possessed bythe ultrasonic testing equipment shown in FIG. 1A to 1D, FIG. 6A is aplan view thereof, FIG. 6B is a side view thereof and FIG. 6C is a rearview thereof;

FIG. 7 is a front view for explaining a condition under which a pipe endis detected for any flaw using the ultrasonic testing equipment shown inFIGS. 6A to 6C; and

FIGS. 8A to 8C are schematic views each showing the schematicconfiguration of other ultrasonic testing equipment to which themechanical section shown in FIGS. 6A to 6C is applied, FIG. 8A shows aplan view thereof, FIG. 8B shows a side view thereof and FIG. 8C shows afront view thereof.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, an embodiment of the ultrasonic testing method andequipment of the present invention will be described with reference tothe accompanying drawings.

FIGS. 1A to 1D are schematic views each showing the schematicconfiguration of an ultrasonic testing equipment according to anembodiment of the present invention. FIG. 1A shows a perspective view,FIG. 1B shows a plan view, FIG. 1C shows a side view and FIG. 1D showsan explanatory view thereof. FIGS. 2A to 2D are explanatory diagramseach showing a propagation behavior of ultrasonic wave in the ultrasonictesting equipment shown in FIGS. 1A to 1D. FIG. 2A shows a perspectiveview, FIG. 2B shows a sectional view in a circumferential direction of apipe, FIG. 2C shows a plan view and FIG. 2D shows a sectional view alongthe ultrasonic wave propagation plane (plane containing a point O, pointA and point B shown in FIG. 2B).

As shown in FIG. 1A to 1D, the ultrasonic testing equipment 100 of thisembodiment is an ultrasonic testing equipment for detecting a pipe P forany flaw using ultrasonic waves and includes an ultrasonic probe 1, atransmission/reception unit 2 for controlling transmission and receptionof ultrasonic waves by the ultrasonic probe 1 and a ultrasonic testingwaveform display unit 3 for displaying ultrasonic testing waveformsreceived by the ultrasonic probe 1. Further, the ultrasonic testingequipment 100 of this embodiment includes a mechanical section 4 (notshown in FIGS. 1A to 1D) for running the ultrasonic probe 1 on theexternal surface of the pipe P for scanning.

The ultrasonic probe 1 has a plurality of transducers 11 arranged alongan annular curved surface. The aforementioned annular curved surface isa curved surface obtained by cutting a predetermined spheroid M with twoparallel planes S1 and S2 facing to each other that do not pass throughthe center O of the spheroid M and do not sandwich the center O of thespheroid M, the two parallel planes being orthogonal to the rotationalaxis of the spheroid M (see FIG. 1C and FIG. 1D). Then, the ultrasonicprobe 1 is arranged so as to face the pipe P so that a longer axisdirection (direction x indicated in FIG. 1B) of the ultrasonic probe isalong an axial direction of the pipe P, a shorter axis direction(direction γ indicated in FIG. 1B) of the ultrasonic probe is along acircumferential direction of the pipe P and the center O of the spheroidM correctly faces an axial center of the pipe P.

The transmission/reception control unit 2 of this embodiment includes atransmission circuit, a reception circuit and a control circuit. Thetransmission circuit includes pulsers which are connected to eachtransducer 11 in order to supply a pulse signal for making eachtransducer 11 send ultrasonic waves and a delay circuit A for setting adelay time of the pulse signal supplied to each transducer 11 by eachpulser. The reception circuit includes receivers which are connected toeach transducer 11 in order to amplify the ultrasonic testing waveformreceived by each transducer 11 and a delay circuit B for setting a delaytime of the ultrasonic testing waveform amplified by each receiver. Thecontrol circuit selects a transducer 11 for transmitting/receivingultrasonic waves from a plurality of the arranged transducers 11 andoperates to determine the delay times to be set by the delay circuit Aor the delay circuit B for each of the selected transducers 11.

The transmission/reception control unit 2 having the above-describedconfiguration selects at least two or more transducers 11 from theplurality of the transducers 11 in order to transmit ultrasonic wavesfrom the selected transducer 11 to the pipe P and then receive thereflected ultrasonic wave from the pipe P.

Hereinafter, a specific method for determining the shape (annular curvedsurface shape) of the ultrasonic probe 1 will be described withreference to FIGS. 2A to 2D. When determining the shape of theultrasonic probe 1, as shown in FIGS. 2A to 2D, a state is considered inwhich the ultrasonic probe 1 is arranged so that the center O of thespheroid M is located in the vicinity of the external surface of thepipe P (consequently, ultrasonic wave transmitted from each transducer11 impinges upon the pipe P with the aforementioned center O set as anincident point).

As shown in FIGS. 2A to 2D, ultrasonic wave transmitted from each of thetransducers 11 constituting the ultrasonic probe 1 is entered via thepoint O (center O of the spheroid) on the external surface of the pipeP, reflected by a point A on the internal surface of the pipe P and thenreaches a point B on the external surface of the pipe P. Then, an angle(propagation angle) between a propagation direction of ultrasonic waveentered via the point O (propagation direction viewed from a normaldirection of a tangential plane of the pipe P including the incidentpoint O) and a tangential L in a circumferential direction of the pipe Ppassing through the incident point O is designated to be γ (hereinafter,also referred to as a “propagation direction γ” as required), anexternal refraction angle (angle between a normal line L1 at the point Bof the pipe P and ultrasonic wave beam U on an ultrasonic wavepropagation surface indicated in FIG. 2D) at the point B is referred toas θr, an internal refraction angle (angle between a normal line L2 atthe point A of the pipe P and ultrasonic wave beam U on the ultrasonicwave propagation surface indicated in FIG. 2D) at the point A isreferred to as θk. Further, an angle of incidence of the ultrasonic waveto the pipe P (angle between a normal line L3 at the incident point O ofthe pipe P and the entering ultrasonic wave beam U on an ultrasonic wavepropagation surface indicated in FIG. 2D) is referred to as θw and arefraction angle of the ultrasonic wave in the pipe P (angle between thenormal line L3 at the incident point O of the pipe P and the ultrasonicbeam U after the ultrasonic wave beam is entered on an ultrasonic wavepropagation surface indicated in FIG. 2D) is referred to as θs.

The ultrasonic wave entered in the pipe P with the angle of incidence θwindicates a geometric propagation behavior. That is, the ultrasonic waveentered into the pipe P with the angle of incidence θw is propagated inthe pipe P at the angle of incidence θs determined according to theSnell's law. As introduced geometrically, the external refraction angleθr is equivalent to the refraction angle θs. That is, the followingequation (7) is established.

sin θr=Vs/Vi·sin θw  (7)

where, in the above equation (7), Vs means a propagation velocity of theultrasonic wave propagated in the pipe P and Vi means a propagationvelocity of the ultrasonic wave in coupling medium filled between theultrasonic probe 1A and the pipe P.

On the other hand, the internal refraction angle θk is a function amongthe angle of incidence θw, the propagation angle γ and the thickness tooutside diameter ratio t/D of the pipe P, as described in PatentLiterature 4. The internal refraction angle θk becomes a minimum valuewhen the propagation direction γ of the ultrasonic wave meets the axialdirection of the pipe P (that is, propagation angle γ=90°) so that it isequal to the external refraction angle θr (=refraction angle θs). Theinternal refraction angle θk becomes a maximum value when thepropagation direction γ of the ultrasonic wave meets the circumferentialdirection of the pipe P (that is, propagation angle γ=0°), it can beexpressed by the following equation (8).

$\begin{matrix}{{\theta \; k} = {\sin^{- 1}\left( \frac{\sin \; \theta \; r}{1 - {2\left( {t/D} \right)}} \right)}} & (8)\end{matrix}$

If the thickness to outside diameter ratio t/D of the pipe P is aboutseveral percent, a difference between the internal refraction angle θkand the external refraction angle θr calculated according to the aboveequation (8) falls within a range of about 10°. Thus, a differencebetween the internal refraction angle θk when an internal surface flaw(detected by ultrasonic wave whose propagation direction γ meetscircumferential direction of the pipe P) extending in the axialdirection of the pipe P is detected and the internal refraction angle θk(=θs) when the internal surface flaw (detected by ultrasonic wave whosepropagation direction γ meets the axial direction of the pipe P)extending in the circumferential direction of the pipe P is detectedfalls within a range of about 10°, thereby producing no significantdifference in detection performance between the both internal surfaceflaws. However, if the t/D of the pipe P is more than 15%, the internalrefraction angle θk calculated according to the above equation (8) isincreased by 20° or more with respect to the external refraction angleθs (that is, the internal refraction angle θk is increased by 20° ormore when the propagation direction γ is changed from the axialdirection of the pipe P to the circumferential direction), therebyseriously dropping the detection performance for the internal surfaceflaw extending in the axial direction of the pipe P. As for the internalsurface flaw having a tilt angle between the axial direction and thecircumferential direction of the pipe P also, the detection performanceis dropped as the internal refraction angle θk is increased.

To prevent the detection performance for the flaw from being dropped bychanges of the internal refraction angle θk described above, arefraction angle θs corresponding to each propagation direction γ ischanged (that is, the angle of incidence θw is changed) so that theinternal refraction angle θk corresponding to each propagation directionγ is of a approximately constant value, depending on the propagationdirection γ of the ultrasonic wave (that is, corresponding to a tiltangle of the flaw orthogonal to the propagation direction γ of theultrasonic wave).

The ultrasonic probe 1 of this embodiment is designed to a shape inwhich the angle of incidence θw corresponding to each propagationdirection γ is changed so that the internal refraction angle θkcorresponding to each propagation direction γ is of a approximatelyconstant value, depending on the propagation direction γ of theultrasonic wave transmitted from each transducer 11. As describedpreviously, the ultrasonic probe 1 includes a plurality of thetransducers 11 arranged along the annular curved surface and theaforementioned annular curved surface is a curved surface obtained bycutting a predetermined spheroid M with two parallel planes S1 and S2(see FIG. 1C and FIG. 1D) that do not pass through the center O of thespheroid M and do not sandwich the center O of the spheroid M, the twoparallel planes being orthogonal to the rotational axis of the spheroid.Consequently, the propagation direction γ of the ultrasonic wavetransmitted from each transducer 11 γ is in a range of −180° to 180°.The elevation angle of each transducer 11 viewed from the center O ofthe spheroid M is different depending on the position in which thetransducer 11 is arranged. In other words, the elevation angle of thetransducer 11 is determined depending on the longer axis and shorteraxis of the ultrasonic probe 1 and a distance from the center O of thespheroid M of the ultrasonic probe 1 and the elevation angle isdifferent depending on the position in which the transducer 11 isarranged (corresponding to the propagation direction γ of the ultrasonicwave transmitted form each transducer 11). An angle obtained bysubtracting this elevation angle from 90° corresponds to the angle ofincidence θw. Thus, the ultrasonic probe 1 of this embodiment isdesigned to a shape in which the angle of incidence θw corresponding toeach propagation direction γ is changed by setting the longer axis andshorter axis of the ultrasonic probe 1 and the distance from the centerO of the spheroid M of the ultrasonic probe 1 so that the internalrefraction angle θk corresponding to the propagation direction γ is of aapproximately constant value, corresponding to the propagation directionγ of the ultrasonic wave transmitted from each transducer 11.

Speaking more specifically, when it is assumed that the longer axis ofthe ultrasonic probe 1 is 2 x, the shorter axis thereof is 2 y and thedistance from the center O of the spheroid M of the ultrasonic probe 1(average distance from the center O of the spheroid M to the planes S1and S2) is h as shown in FIGS. 1A to 1D, the angle of incidence θw(referred to as θw1) of the ultrasonic wave transmitted from thetransducer 11 located at the longer axis of the ultrasonic probe 1 andthe angle of incidence θw (referred to as θw1) of the ultrasonic wavetransmitted from the transducer 11 located at the shorter axis of theultrasonic probe 1 are expressed in the following equations (9) and(10).

θw1=tan⁻¹(x/h)  (9)

θw2=tan⁻¹(y/h)  (10)

The shape of the ultrasonic probe 1 (x, y and h) is determinedcorresponding to the t/D of a pipe P to be detected so that the anglesof incidence θw1 and θw2 expressed by the above equations (9), (10)satisfy the following equations (11).

sin θw2=sin θw1·{1−2(t/D)}  (11)

When the angles of incidence θw1 and θw2 satisfy the above equation(11), the internal refraction angle θk when the propagation direction γof the ultrasonic wave agrees with the axial direction of the pipe P(when the transducer 11 located on the longer axis of the ultrasonicprobe 1 sends the ultrasonic wave) and the internal refraction angle θkwhen the propagation direction γ of the ultrasonic wave agrees with thecircumferential direction of the pipe P (when the transducer 11 locatedon the shorter axis of the ultrasonic probe 1 sends the ultrasonic wave)are approximately equal to each other as described in Patent Literature4. Consequently, in case where the propagation direction γ of theultrasonic wave is located between the axial direction and thecircumferential direction of the pipe P, an approximately equal internalrefraction angle θk is obtained. That is, even if the propagationdirection γ of the ultrasonic wave is in a range of −180° to 180°, anapproximately equal internal refraction angle θk can be obtained.

Because the shape of the ultrasonic probe 1 of this embodiment isdetermined as described above, the propagation direction γ of theultrasonic wave transmitted from each transducer 11 can be madeorthogonal to a direction in which the direction of a flaw to bedetected is extended and at the same time, the internal refraction angleθk can be made approximately constant and an equal echo intensity can beobtained regardless of the tilt angle of each flaw. In this way, thetransducers 11 of a number equal to that of the tilt angles of the flawsto be detected are selected by the transmission/reception control unit 2and the ultrasonic waves are transmitted and received by the selectedtransducers 11, thereby the flaws having various tilt angles can bedetected with high precision.

In the ultrasonic probe 1 of this embodiment, preferably the center O ofthe spheroid is arranged in the vicinity of the external surface of thepipe P not only when the aforementioned shape is determined but alsowhen the flaws are detected actually.

In such a preferred equipment, the incident points of the ultrasonicwave transmitted from each of the transducers 11 to the pipe Papproximately agree (the center O of the spheroid becomes an incidentpoint). Consequently, the propagation behavior of the ultrasonic wavejust like expected when the shape of the ultrasonic probe 1A isdetermined can be obtained (the internal refraction angle θk isapproximately constant regardless of the propagation direction of theultrasonic wave), and the flaws having various tilt angles can bedetected with high precision.

The shape of the ultrasonic probe 1 of this embodiment enables theinternal refraction angle θk to be approximately constant while theexternal refraction angle θr is changed depending on the propagationdirection γ. In other words, the ultrasonic probe 1 of this embodimentis formed into a preferable shape for detecting the internal surfaceflaws having various tilt angles with high precision. To detect theexternal surface flaws having various tilt angles with high precision,the external refraction angle θr needs to be approximately constantregardless of the tilt angle of each flaw (that is, regardless of thepropagation direction γ of the ultrasonic wave). Because the externalrefraction angle θr is equal to the refraction angle θs as describedabove, the refraction angle θs is made approximately constant regardlessof the propagation direction γ and for this purpose, the angle ofincidence θw is made approximately constant regardless of thepropagation direction γ. To make the angle of incidence θw approximatelyconstant regardless of the propagation direction γ of the ultrasonicwave, the lengths of the longer axis (2 x) and the shorter axis (2 y) ofthe ultrasonic probe are set to an approximately equal value. That is, ashape obtained when the spheroid is spherical is set up. The ultrasonicprobe having such a shape enables the external refraction angle r to beapproximately constant regardless of the propagation direction γ,thereby the external surface flaws having various tilt angles can bedetected with high precision.

A preferable shape of the ultrasonic probe for detecting the flaw isselected depending on which the prominent test object of flaw in thepipe P is the internal surface flaw or the external surface flaw.Alternatively, if both the internal surface flaw and the externalsurface flaw need to be detected equally, a shape having values x, yapproximately in the middle between the shape (x, y and h) of theultrasonic probe which satisfies the equation (11) preferable fordetecting the internal surface flaw and the shape of an ultrasonic probewhich satisfies x=y preferable for detecting the external surface flawsis selected.

Hereinafter, functions of the ultrasonic testing waveform display unit 3will be described with reference to FIGS. 3A to 3C.

FIGS. 3A to 3C are explanatory diagrams for explaining the functions ofthe ultrasonic testing waveform display unit shown in FIGS. 1A to 1D.FIG. 3A shows a relationship between the selected transducers and thepropagation directions of ultrasonic waves transmitted from the selectedtransducers, FIG. 3B shows an example of the ultrasonic testingwaveforms received by the selected transducers and FIG. 3C shows anexample of display of the ultrasonic testing waveforms. The ultrasonictesting waveform display unit 3 displays ultrasonic testing waveformsreceived by the selected transducers 11 corresponding to the propagationdirection γ of the ultrasonic wave transmitted to and received by theselected transducers 11 (transducer 11A, 11B, 11C in the example shownin FIGS. 3A to 3C) radially.

More specifically, the ultrasonic testing waveform display unit 3displays the ultrasonic testing waveforms radially with a point of timecorresponding to an echo on an incident point of the ultrasonic wave tothe pipe P contained in the ultrasonic testing waveform as a beginningpoint S. More specifically, the ultrasonic testing waveform display unit3 converts each ultrasonic testing waveform received by the respectivetransducers 11A to 11C output form the transmission/reception controlunit 2 into digital data and displays a gray image corresponding to theintensities of the ultrasonic testing waveform, a color image which iscoded in different colors corresponding to the intensities of theultrasonic testing waveform or binarized image obtained by binarizingthe ultrasonic testing waveform with a predetermined threshold, on anappropriate monitor or the like.

The ultrasonic testing waveform display unit 3 displays the ultrasonictesting waveforms radially as described above and further displayscircles indicating points of time corresponding to the echoes on theinternal surface and/or the external surface of the pipe P around thebeginning point S. The coordinates of these circles can be calculatedfrom the thickness of the pipe P, the refraction angle θs of theultrasonic wave in the pipe P and the propagation velocity Vs of theultrasonic wave propagated within the pipe P. The example shown in FIGS.3A to 3C indicates a circle C1 indicating a point of time (so-called 0.5skip) corresponding to an echo when the ultrasonic wave entered into thepipe P reaches the internal surface of the pipe P first and a circle C2indicating a point of time (so-called 1.0 skip) corresponding to an echowhen the ultrasonic wave entered into the pipe P is reflected by theinternal surface of the pipe P and then reaches the external surface ofthe pipe P first.

FIGS. 4A and 4B show an example that a tilted flaw generated in a steelpipe is detected using the ultrasonic testing equipment 100 of thisembodiment so as to display the ultrasonic testing waveforms with theultrasonic testing waveform display unit 3. In the meantime, thedetected steel pipe for any flaw has an outside diameter of 178 mm and athickness of 10 mm, and the shape of the ultrasonic probe 1 (annularcurved surface shape) is a shape having values x, y approximately in themiddle between the shape (x, y and h) of the ultrasonic probe whichsatisfies the equation (11) preferable for detecting the internalsurface flaw and the shape of an ultrasonic probe which satisfies x=ypreferable for detecting the external surface flaws. The example shownin FIGS. 4A and 4B indicates the aforementioned circle C2 and a circleC3 indicating a point of time (so-called 1.5 skip) corresponding to anecho when the ultrasonic wave entered into the pipe P is reflected inthe pipe P and reaches the internal surface of the pipe P for the secondtime.

As shown in FIGS. 4A and 4B, the ultrasonic testing waveform displayunit 3 displays the ultrasonic testing waveforms received by theselected transducers 11 radially corresponding to the propagationdirections γ of the ultrasonic waves transmitted and received by theselected transducers 11. Consequently, the tilt angle (a directionorthogonal to the direction of the displayed ultrasonic testing waveformcorresponds to the tilt angle) of the tilted flaw can be evaluatedeasily by checking the direction of the ultrasonic testing waveformcontaining an echo from the displayed tilt flaw visually. According toan example shown in FIG. 4A, it is possible to recognize that the tiltedflaw extending orthogonally to this propagation direction exists at aposition in which the propagation angle γ of the ultrasonic wave isapproximately 0° easily. Further, according to an example shown in FIG.4B, it is also possible to recognize that the tilted flaw extendingorthogonally to this propagation direction exists at a position in whichthe propagation angle γ of the ultrasonic wave is approximately 30°.

As shown in FIGS. 4A and 4B, the ultrasonic testing waveform displayunit 3 displays the ultrasonic testing waveforms radially and at thesame time, the circles (C2, C3 in the example shown in FIGS. 4A and 4B)indicating a point of time corresponding to the echo on the internalsurface and/or the external surface of the pipe P. By checking visuallyat which point of time in the ultrasonic testing waveform displayedradially any echo from the tilted flaw is contained with the displayedcircles, a position of the tilted flaw in the thickness direction of thepipe P can be evaluated easily. In the examples shown in FIG. 4A andFIG. 4B, the echoes from the tilted flaw exist on the circle C2. Thus,it is possible to recognize that the tilted flaw exists on the externalsurface of the pipe P easily.

In this embodiment, an example of displaying all the ultrasonic testingwaveforms correlated to the propagation direction γ (γ=−180° to 180°) ofthe ultrasonic wave radially from the identical beginning point S hasbeen described as shown in FIG. 3C and FIGS. 4A and 4B. However, thepresent invention is not limited thereto, but it is permissible todivide the propagation direction γ (γ=−180° to 180°) of the ultrasonicwave to a plurality of areas as shown in FIGS. 5A to 5C so as to displaythe ultrasonic testing waveforms radially from different beginningpoints S on the display in the respective areas.

Hereinafter, the mechanical section 4 for running the ultrasonic probe 1on the external surface of the pipe P for scanning will be describedwith reference to FIGS. 6A to 6C. The mechanical section 4 isconstructed to be able to obtain a high reliability flaw detectionresult without any change in the posture of the ultrasonic probe 1 withrespect to the pipe P when the ultrasonic probe 1 is run manually forscanning to detect for any flaw. The reason is that if the transducer 11designed to transmit and receive the ultrasonic wave at the propagationangle γ, for example, 0° happens to transmit and receive the ultrasonicwave at other propagation angle γ due to the change in the posture ofthe ultrasonic probe 1, the flaw detection accuracy is deteriorated andthe flaw tilted angle cannot be evaluated accurately.

FIGS. 6A to 6C are schematic views each showing the schematicconfiguration of a structure around the mechanical section 4 possessedby the ultrasonic testing equipment 100. FIG. 6A shows a plan viewthereof, FIG. 6B shows a side view thereof and FIG. 6C shows a rear viewthereof. In the meantime, FIG. 6C shows only the mechanical section 4.

As shown in FIGS. 6A to 6C, the mechanical section 4 of this embodimentincludes a pair of follow-up mechanisms 41A, 41B and a pair of armmechanisms 42A, 42B.

The pair of follow-up mechanisms 41A, 41B are arranged along the axialdirection of the pipe P such that the ultrasonic probe 1 is sandwiched,and are connected to the ultrasonic probe 1 through any appropriatemember (not shown). The follow-up mechanisms 41A, 41B have at least onerolling roller 41R which rolls in contact with the external surface ofthe pipe P. The follow-up mechanism 41A, 41B of this embodiment arearranged to sandwich the center (gravity center) of the ultrasonic probe1 and have a pair of rolling rollers 41R which roll in contact with theexternal surface of the pipe P. Although in this embodiment, a sphericalbearing capable of rolling in every direction is used as the rollingroller 41R, the present invention is not limited to this example, but itis permissible to employ such as an omni wheel which can roll in twoaxial directions, sold by, for example, Tosa Denshi.

The ultrasonic probe 1 is placed on the external surface of the pipe Pvia the pair of rolling rollers 41R (four rolling rollers 41R) possessedby each of the pair of follow-up mechanisms 41A, 41B and can scan theexternal surface of the pipe P with a distance between the externalsurface of the pipe P and the ultrasonic probe 1 kept constant byrolling the rolling rollers 41R. Although the four rollers are used asthe rollers 41R in this embodiment, the present invention is not limitedto this example, but there is no problem even if each follow-upmechanism 41A, 41B has one rolling roller 41R each, because the distancebetween the external surface of the pipe P and the ultrasonic probe 1can be kept constant. In the meantime, preferably, the ultrasonic probe1 and the follow-up mechanisms 41A, 41B are connected to each otherunder a positional relationship that the position of the center O of theaforementioned spheroid is in the vicinity of the external surface ofthe pipe P.

The follow-up mechanisms 41A, 41B of this embodiment have a permanentmagnet 41M between the pair of rolling rollers 41R as a preferableconfiguration. If the pipe P has magnetism, absorption force of thepermanent magnet 41M contributes to holding the posture of theultrasonic probe 1 with respect to the pipe P constant.

The ultrasonic probe 1 and the follow-up mechanisms 41A, 41B coupled viathe aforementioned appropriate members are installed to an appropriateframe (not shown). Preferably, the ultrasonic probe 1 and the follow-upmechanisms 41A, 41B are installed to the frame so that they can be movedintegrally in the diameter direction of the pipe P.

The pair of arm mechanisms 42A, 42B are formed into a substantiallyU-shape in a plan view and are arranged along the circumferentialdirection of the pipe P so that the ultrasonic probe 1 and the follow-upmechanisms 41A, 41B are sandwiched, and are connected to the ultrasonicprobe 1. More specifically, rotation shafts 421A, 421B of the respectivearm mechanisms 42A, 42B are installed to the aforementioned framesrotatably. The ultrasonic probe 1 and the follow-up mechanisms 41A, 41Bcoupled via the appropriate members are installed to this frame asdescribed above. With the above-described structure, the pair of armmechanisms 42A, 42B are connected to the ultrasonic probe 1.

The pair of arm mechanism 42A, 42B are constructed so that an intervalbetween them can be adjusted. More specifically, a ball screw mechanism43 is installed on each of end portions 422A, 422B of the respective armmechanisms 42A, 42B. By turning an adjustment knob 431 of the ball screwmechanism 43, the end portions 422A, 422B of the respective armmechanisms 42A, 42B approach or leave each other. Consequently, therespective arm mechanisms 42A, 42B rotate around the rotation shafts421A, 421B as a reference so that other end portions 423A, 423B of therespective arm mechanisms 42A, 42B approach or leave each other. Asdescribed above, the interval between the pair of arm mechanism 42A and42B can be adjusted.

Each of the arm mechanisms 42A, 42B has at least one pair (five in thisembodiment) of the rolling rollers 42R that are arranged to sandwich thecenter (gravity center) of the ultrasonic probe 1 and roll in contactwith the external surface of the pipe P. The rolling rollers 42R areinstalled to the other end portions 423A, 423B of the arm mechanisms42A, 42B. Although this embodiment employs the spherical bearing as therolling roller 42R, it is permissible to use other means similar to therolling roller 41R. Further, the arm mechanisms 42A, 42B of thisembodiment have permanent magnets 42M between the three rolling rollers42R arranged in the central portion as a preferred structure like thefollow-up mechanisms 41A, 41B.

By adjusting the interval between the pair of arm mechanisms 42A and 42Bhaving the above-described structure, the pipe P is sandwiched from thecircumferential direction by the pair of arm mechanisms 42A, 42B.Consequently, the posture of the ultrasonic probe 1 connected to thepair of arm mechanisms 42A, 42B with respect to the pipe P can be keptconstant. Because the respective arm mechanisms 42A, 42B have therolling rollers 42R, the rollers 42R are rotated to allow the ultrasonicprobe 1 to scan along the external surface of the pipe P, even if thepipe P is sandwiched from the circumferential direction by the pair ofarm mechanisms 42A, 42B.

In the meantime, the arm mechanisms 42A, 42B are installed to the frameso that they do not move in the diameter direction of the pipe P. Thus,if the ultrasonic probe 1 and the follow-up mechanisms 41A, 41B areinstalled to the frame so that they can move integrally in the diameterdirection of the pipe P as a preferred structure as described above, theultrasonic probe 1 and the follow-up mechanisms 41A, 41B can moverelative to the arm mechanisms 42A, 42B in the diameter direction of thepipe P. Consequently, even if the external surface of the pipe P isslightly deformed or not circular, the ultrasonic probe 1 and thefollow-up mechanisms 41A, 41B are moved in the diameter direction of thepipe P along the external surface of the pipe P with the posture of theultrasonic probe 1 kept constant when the pipe P is sandwiched from thecircumferential direction by the pair of arm mechanisms 42A, 42B.Consequently, it is possible to keep such a positional relationship thatthe position of the center O of the spheroid is in the vicinity of theexternal surface of the pipe P.

Further, the mechanical section 4 of this embodiment is constructed sothat liquid coupling medium such as water is filled between theultrasonic probe 1 and the steel pipe P. Alternatively, if any acousticwedge made of resin or the like exists on the bottom face of theultrasonic probe 1, the mechanical section 4 is constructed so thatcoupling medium such as water is filled between this acoustic wedge andthe steel pipe P.

In the ultrasonic testing equipment 100 having the mechanical section 4described above, the posture of the ultrasonic probe 1 with respect tothe pipe P is not changed, thereby obtaining a high reliability flawdetection result.

By employing the mechanical section 4 of this embodiment, up to endportions of the pipe P can be detected for any flaw as shown in FIG. 7.That is, even if one side follow-up mechanism 41A is moved beyond an endof the pipe P, up to the end portion of the pipe P can be detected forany flaw because the ultrasonic probe 1 can be held on the externalsurface of the pipe P by the pair of arm mechanisms 42A, 42B and theother side follow-up mechanism 41B.

Table 1 shows a result of evaluation on the reproducibility of flawdetection when manually detecting flaws generated by dischargeprocessing on a steel pipe using the ultrasonic testing equipment 100described above.

TABLE 1 Tilt angle of flaw with respect to pipe axial direction (deg) 030 45 60 90 Reproducibility (db) 1.2 2.0 0.9 2.0 1.6

Detection of the flaws under an excellent reproducibility was secured asshown in Table 1.

In the meantime, the ultrasonic probe which employs the mechanicalsection 4 of this embodiment is not limited to the ultrasonic probe 1shown in FIGS. 1A to 1D. The mechanical section 4 of this embodiment isapplied preferably to an ultrasonic probe A for vertical flaw detectionas shown in FIGS. 8A to 8C and an ultrasonic probe 1A having fourultrasonic probes B to E for oblique flaw detection.

As shown in FIGS. 8A to 8C, four ultrasonic probes B to E are arrangedalong an annular curved surface obtained by cutting vibration surface SBto SE with two parallel planes facing to each other that do not passthrough the center O of a predetermined spheroid and do not sandwich thecenter O of the spheroid, the two parallel planes being orthogonal tothe rotational axis of the spheroid, like the transducer 11 of theaforementioned ultrasonic probe 1. Then, the shape of this annularcurved surface is determined so that the external refraction angles ofthe ultrasonic waves propagated from the respective ultrasonic probes Bto E are approximately equivalent and/or the internal refraction anglesof the ultrasonic wave are approximately equivalent.

The ultrasonic probe A is arranged such that its vibration surface SApasses through the center O of the spheroid and along a straight line L(corresponding to the rotational axis of the spheroid) orthogonal to theaforementioned two parallel planes (just over the center O of thespheroid in the example shown in FIGS. 8A to 8C). Consequently, thereare advantages that oblique flaw detection with the ultrasonic probes Bto E is enabled and thickness measurement and lamination detection aboutthe steel pipe P with the ultrasonic probe A are enabled.

Even in the ultrasonic probe 1A described above, if the ultrasonic probeB designed to transmit and receive the ultrasonic wave at thepropagation angle γ, for example, 0° happens to transmit and receive theultrasonic wave at other propagation angle γ because of a change in itsposture, the flaw detection accuracy is deteriorated and the tilt angleof the flaw cannot be evaluated accurately. However, by providing withthe mechanical section 4 of this embodiment, a high reliability flawdetection result without any change in the posture of the ultrasonicprobe 1A with respect to the pipe P can be obtained.

1-4. (canceled)
 5. An ultrasonic testing equipment for detecting a flawby ultrasonic waves in a tubular test object, comprising: an ultrasonicprobe; a pair of follow-up mechanisms arranged along an axial directionof the tubular test object so that the ultrasonic probe is sandwiched,and connected to the ultrasonic probe; and a pair of arm mechanismsarranged along the circumferential direction of the tubular test objectso that the ultrasonic probe and the follow-up mechanisms aresandwiched, and connected to the ultrasonic probe while an intervalbetween the pair of arm mechanisms is adjustable, wherein the follow-upmechanism includes at least one rolling roller that rolls in contactwith the external surface of the tubular test object, and the armmechanism has at least one pair of rolling rollers that are arranged tosandwich the center of the ultrasonic probe and roll in contact with theexternal surface of the tubular test object.
 6. The ultrasonic testingequipment according to claim 5, wherein the ultrasonic probe has aplurality of transducers arranged along an annular curved surfaceobtained by cutting a predetermined spheroid with two parallel planesfacing to each other that do not pass through the center of the spheroidand do not sandwich the center of the spheroid, the two parallel planesbeing orthogonal to a rotational axis of the spheroid, and is arrangedso as to face a tubular test object so that a longer axis direction ofthe ultrasonic probe is along an axial direction of the tubular testobject, a shorter axis direction of the ultrasonic probe is along acircumferential direction of the tubular test object and the center ofthe spheroid correctly faces to the axial center of the tubular testobject, and the ultrasonic testing equipment includes atransmission/reception control unit that causes at least two transducersselected from the plurality of the transducers to transmit theultrasonic waves to and receive the same from the tubular test object.7. The ultrasonic testing equipment according to claim 6, comprising aultrasonic testing waveform display unit that displays ultrasonictesting waveforms received by the selected transducers radiallycorresponding to the propagation directions of the ultrasonic wavestransmitted and received by the selected transducers.
 8. The ultrasonictesting equipment according to claim 7, wherein the ultrasonic testingwaveform display unit displays the ultrasonic testing waveforms radiallywith a point of time corresponding to an echo on an incident point ofthe ultrasonic wave to the tubular test object contained in theultrasonic testing waveform as a beginning point and displays circlesindicating points of time corresponding to the echoes on the internalsurface and/or the external surface of the tubular test object aroundthe beginning point.